Vector is base class of other vector like classes. It represents a series of vectors.
from py3d import Vector
Vector()
Vector([], dtype=float64)
Vector([0, 0, 0, 0])
Vector([0, 0, 0, 0])
Vector([1, 2, -4])
Vector([ 1, 2, -4])
Vector([1, 2, 3], (2,))
Vector([[1, 2, 3],
[1, 2, 3]])
import py3d
py3d.Vector([1, 2, 0, 3], ())
Vector([1, 2, 0, 3])
Vector([1], (2,))
Vector([[1],
[1]])
V32 = Vector([
[1, 3],
[2, -9],
[0.1, -3]])
V32
Vector([[ 1. , 3. ],
[ 2. , -9. ],
[ 0.1, -3. ]])
Get unit vector
V32.U
Vector([[ 0.31622777, 0.9486833 ],
[ 0.21693046, -0.97618706],
[ 0.03331483, -0.99944491]])
Get length of vectors
V32.L
array([[3.16227766],
[9.21954446],
[3.0016662 ]])
from numpy import allclose
assert allclose(V32.U.L, [[1], [1], [1]])
Get homogeneous vector
V32.H
Vector([[ 1. , 3. , 1. ],
[ 2. , -9. , 1. ],
[ 0.1, -3. , 1. ]])
Get a series of random vectors
import py3d
py3d.Vector.Rand(2,3,4)
Vector([[[0.49131834, 0.10336087, 0.50760776, 0.07097313],
[0.41463367, 0.91502551, 0.54208339, 0.04520718],
[0.58076083, 0.56924251, 0.89093911, 0.6569055 ]],
[[0.06596884, 0.02334244, 0.72493364, 0.05977239],
[0.68940789, 0.20783542, 0.05668877, 0.04774758],
[0.59399828, 0.63195717, 0.41348648, 0.78559023]]])
import py3d
py3d.Vector([[0,0],[1,2],[3,4]]).diff()
Vector([[1, 2],
[2, 2]])
Read pcd file
import py3d
py3d.read_pcd("py3d/doc/ascii.pcd").xyz.as_point()
import py3d
pcd = py3d.read_pcd("py3d/doc/binary.pcd")
pcd.xyz.as_point()
pcd.to_pcd("test.pcd")